Design and Implementation of Fuzzy Parking Control Methodology for Car-Like Mobile Robots

• Main Authors: Shih_Jie Chang, 張世傑
• Other Authors: Tzuu-Hseng S. Li
• Format: Others
• Language: en_US
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/41231110589635882771

博士 === 國立成功大學 === 電機工程學系碩博士班 === 91 === The theme of this dissertation is to design and implement a car-like mobile robot (CLMR) that possesses autonomous parking and target-tracking capability. All the parking control and the target tracking control are developed on the basis of fuzzy logic control (FLC) schemes. We develop the human-like driving skill and trajectory following approach for parking problems. According to human experiences, we propose the fuzzy garage- parking control (FGPC) and the fuzzy parallel-parking control (FPPC) to back-drive or head-in the garage and the parking lot. By a trajectory following approach, feasible reference trajectories are provided for the fuzzy logic controller to maneuver the steering angle and speed of the CLMR. To follow the specific reference trajectories, we also propose two FGPC methods and two FPPC methods to back-drive or head-in the CLMR to the garage and the parking lot, respectively. Fuzzy target-tracking control (FTTC) of autonomous CLMR is presented by using fuzzy sliding-mode control (FSMC) modular in this dissertation. Moreover, the target-tracking control with obstacle avoidance is also investigated. The hardware architecture of the PC-based CLMR developed in this dissertation is composed of chassis mechanism, microcomputer part, motor driver part, and sensors. Four types of the PC-based CLMRs are built up to accomplish the parking and target-tracking missions, where three types of sensors including reflective sensors, penetrative sensors, and a CCD camera are adopted. Both computer simulations and real-time implementation experiments demonstrate the feasibility and effectiveness of the proposed intelligent parking and autonomous target-tracking control schemes.